Mobile robot operation control method based on floor environment sensing and apparatus therefor
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Solution Overview
Problem
Existing mobile robots face challenges in efficiently adapting their cleaning operations to varying floor environments due to fixed operation speed settings, which hinder effective cleaning performance and require real-time adaptation of cleaning module speeds and robot travel speed based on current floor conditions.
Innovation Solution
A method and apparatus for mobile robots that involve acquiring current values from motors, calculating statistical feature values, sensing the floor environment mode by comparing these values with predetermined reference values, and adjusting operation controls accordingly to optimize cleaning efficiency and adapt to changing conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If cleaning modules are controlled at a fixed operation speed for each cleaning mode, then the control system is simple and reliable, but the cleaning performance cannot be optimized for different floor environments
Solution Approach 1:
The patent implements dynamic speed adjustment of cleaning modules based on real-time floor environment detection. The controller continuously monitors floor type and automatically adjusts the operation speed of cleaning modules to match the detected environment, transitioning from fixed-speed operation to adaptive dynamic speed control that optimizes cleaning performance for different surfaces.
Solution Approach 2:
The system incorporates feedback mechanisms where the controller receives information about floor environment conditions and uses this feedback to adjust cleaning module speeds. This closed-loop control allows the system to respond to changing floor conditions and maintain optimal cleaning performance through continuous monitoring and adjustment.
2Adaptability or versatility
If the robot travels at a fixed speed, then the navigation and control are simplified, but the robot cannot adapt to varying floor conditions that require different travel speeds
Solution Approach 1:
The patent implements dynamic speed adjustment of the robot's travel based on real-time floor environment detection. The controller continuously monitors floor type and automatically adjusts the robot's traveling speed to match the detected environment, transitioning from fixed-speed navigation to adaptive dynamic speed control that optimizes both travel efficiency and cleaning performance for different surfaces.
Solution Approach 2:
The system incorporates feedback mechanisms where the controller receives information about floor environment conditions and uses this feedback to adjust robot travel speed. This closed-loop control allows the system to respond to changing floor conditions and maintain optimal operation through continuous monitoring and adjustment of velocity parameters.
3Ease of manufacture
If statistical feature values are calculated from motor current to determine floor environment, then the sensing method is simple and cost-effective, but the determination accuracy may be insufficient for complex floor variations
Solution Approach 1:
The patent analyzes statistical feature values derived from motor current parameters to determine floor environment characteristics. By examining variations in current consumption patterns and calculating statistical features, the system can distinguish between different floor types using electrical parameter changes rather than complex mechanical or optical sensing mechanisms.
Solution Approach 2:
The system replaces complex mechanical or optical floor sensing mechanisms with electrical current-based detection. By using the motor's current consumption as a sensing parameter, the patent eliminates the need for separate floor detection sensors, substituting electrical measurement for mechanical or optical detection methods.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables real-time sensing and adaptation of floor environments, optimizing cleaning operations by adjusting motor forces and speeds, thereby enhancing cleaning efficiency and responsiveness to environmental changes.
Implementation Method 1
acquiring a current value measured from a motor which is equipped in a mobile robot to operate
Data Source
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AI summary
Disclosed are a mobile robot operation control method based on floor environment sensing and an apparatus therefor. The mobile robot operation control method based on floor environment sensing according to an exemplary embodiment of the present disclosure includes a measured current value acquiring step of acquiring a current value measured from a motor which is equipped in a mobile robot to operate, a statistical feature value calculating step of calculating at least one statistical feature value based on the current value, a floor environment sensing step of sensing a final floor environment mode by comparing at least one statistical feature value and a predetermined determination reference value, and an operation control step of controlling an operation of the mobile robot based on a sensing result of the final floor environment mode.